Range-finding system and method for data communication within the same

ABSTRACT

The present disclosure provides a range-finding system capable of data communication. The range-finding system includes a rangefinder for acquiring ranging data, a magnetic ring unit having at least two communication channels, and a data processing and control unit. Each communication channel includes a magnetic ring. The magnetic ring unit transmits the ranging data as downlink data from the rangefinder to the data processing and control unit via one or more of the communication channels.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a bypass continuation of PCT/CN2019/108662with an international filing date of Sep. 27, 2019, and a priority dateof Sep. 28, 2018, the entirety of which is hereby incorporated herein byreference. The present application is also related to and claims thebenefit and priority of CN 201811139915.5 filed Sep. 28, 2018, CN201811273619.4 filed Oct. 30, 2018, and CN 201910866688.4 filed Sep. 12,2019, the entirety of each of which is hereby incorporated herein byreference.

TECHNICAL FIELD

The present disclosure relates to range-finding systems and methods,such as light detection and ranging (LiDAR) systems and methods usingthe same, and more particularly to range-finding systems and methodsusing magnetic rings for one or both of data communication or powertransmission.

BACKGROUND

Range-finding systems, such as LiDAR systems, have found their way intoa wide variety of high-tech applications, such as autonomous driving,robotic navigation, unmanned aerial vehicles (UAVs). They areinstrumental in spatial modeling and detection of the surroundingenvironment. A LiDAR system is used to detect feature parameters of anobject in the environment, such as its position, height, speed, targetdistance, attitude, and contours. Such parameters may be used to producehigh-definition maps of the surrounding environment. For example, atypical LiDAR system measures a distance to a target by illuminating thetarget with pulsed laser beams and receiving the reflected pulses with asensor, such as a photodetector. Differences in the wavelengths, phases,and/or return time of the laser beams can then be used to calculate thedistance and to make digital three-dimensional (3D) representations ofthe target. Because using a laser beam as the incident light can mapphysical features with high resolution, a LiDAR system is particularlysuitable for the abovementioned applications.

Range-finding systems normally include means for transmitting data, suchas the feature parameters of the object, to the other part of thesystem. Because some range-finding systems rotate at a high speed, datacommunication between the rotating part and the stationary part becomesa major bottleneck for the system to improve its speed of processing.Some conventional range-finding systems use slip rings to communicatedata while the system is rotating. Specifically, data is communicated byfriction contact between components inside the slip rings. However,because high-speed rotation of the range-finding system causes severeabrasion of the slip rings, such a system requires frequent maintenanceand repair. The quality of transmission also significantly deterioratesin rotating operation due to the wear and tear of the slip rings.

Embodiments of the present disclosure address the above problems byproviding range-finding systems and methods, such as LiDAR systems andmethods using the same, that use magnetic rings for one or both of datacommunication or power transmission.

SUMMARY

Embodiments of the disclosure provide a range-finding system capable ofdata communication. The range-finding system includes a rangefinder foracquiring ranging data, a magnetic ring unit having at least twocommunication channels, and a data processing and control unit. Eachcommunication channel includes a magnetic ring. The magnetic ring unittransmits the ranging data as downlink data from the rangefinder to thedata processing and control unit via one or more of the communicationchannels.

Embodiments of the disclosure also provide a magnetic-ring-basedcommunication system. The communication system includes a switch unitreceiving a downlink control signal and an uplink control signal, amainboard control unit transmitting a downlink data and receiving anuplink data, a backboard control unit transmitting an uplink data andreceiving a downlink data, a communication channel having a mainboardmagnetic ring unit and a backboard magnetic ring unit, and a powerchannel for transmitting a power signal from the backboard control unitto the mainboard control unit. When the switch unit receives thedownlink control signal, the mainboard control unit transmits thedownlink data to the backboard control unit via the communicationchannel. When the switch unit receives the uplink control signal, thebackboard control unit transmits the uplink data to the mainboardcontrol unit via the communication channel. The backboard control unitsupplies power to the mainboard control unit via the power channel.

Embodiments of the disclosure further provide a method for datatransmission within a range-finding system. The method includesacquiring ranging data by a rangefinder, transmitting, via a magneticring unit comprising a communication channel, the ranging data asdownlink data from the rangefinder to a data processing and controlunit, and receiving the ranging data at a data processing and controlunit. Each communication channel includes a magnetic ring.

It is to be understood that both the foregoing general description andthe following detailed description are exemplary and explanatory onlyand are not restrictive of the invention, as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a block diagram of a first exemplary range-findingsystem, according to embodiments of the disclosure.

FIG. 2 illustrates a block diagram of an exemplary LiDAR transmissionand receiving module, according to embodiments of the disclosure.

FIG. 3A illustrates a front view of an exemplary magnetic ring,according to embodiments of the disclosure.

FIG. 3B illustrates an oblique front view of an exemplary outer ring,according to embodiments of the disclosure.

FIG. 3C illustrates another oblique front view of an exemplary outerring, according to embodiments of the disclosure.

FIG. 3D illustrates an oblique front view of an exemplary inner ring,according to embodiments of the disclosure.

FIG. 3E illustrates a side view of an exemplary inner ring, according toembodiments of the disclosure.

FIG. 4A illustrates an exploded view of an exemplary pair of magneticrings, according to embodiments of the disclosure.

FIG. 4B illustrates an exploded view of an exemplary rotatingrange-finding system using a pair of magnetic rings, according toembodiments of the disclosure.

FIG. 5 illustrates a data communication flowchart of the first exemplaryrange-finding system, according to embodiments of the disclosure.

FIG. 6A illustrates a block diagram of a second exemplary range-findingsystem, according to embodiments of the disclosure.

FIG. 6B illustrates a block diagram of the equivalent circuit of anexemplary power supply unit, according to embodiments of the disclosure.

FIG. 7 illustrates a data communication flowchart of the secondexemplary range-finding system, according to embodiments of thedisclosure.

FIG. 8 illustrates a block diagram of a third exemplary range-findingsystem, according to embodiments of the disclosure.

FIG. 9 illustrates a data communication flowchart of the third exemplaryrange-finding system, according to embodiments of the disclosure.

FIG. 10 illustrates a block diagram of a fourth exemplary range-findingsystem, according to embodiments of the disclosure.

FIG. 11A illustrates a detailed block diagram of a magnetic-ring-basedcommunication system, according to embodiments of the disclosure.

FIG. 11B illustrates a block diagram of a switch unit of themagnetic-ring-based communication system in FIG. 11A, according toembodiments of the disclosure.

FIG. 12 illustrates a method for data transmission within arange-finding system, according to embodiments of the disclosure.

FIG. 13 illustrates a further method for data transmission within arange-finding system, according to embodiments of the disclosure.

FIG. 14 illustrates a method of operating a range-finding system,according to embodiments of the disclosure.

DETAILED DESCRIPTION

Reference will now be made in detail to the exemplary embodiments,examples of which are illustrated in the accompanying drawings. Whereverpossible, the same reference numbers will be used throughout thedrawings to refer to the same or like parts.

A range-finding system according to the present disclosure may becapable of data communication. It may include a rangefinder. Therangefinder may use acoustic or electromagnetic waves to detect thedistance between the detected objects and the rangefinder. Typicalrange-finding methods that may be compatible with the range-findingsystem of the present disclosure include sonar, ultrasonicrange-finding, radar, laser, LiDAR, and the like. Although the majorityof the embodiments and descriptions in the present disclosure aredirected to the LiDAR technology, a person of skill in the art wouldknow that the same disclosure may be applied to range-finding systemsemploying other range-finding methods as well.

FIG. 1 illustrates a block diagram of a first exemplary range-findingsystem 100, according to embodiments of the disclosure. Range-findingsystem 100 may be a device installed on a moving vehicle, whether mannedor unmanned. Examples of such a vehicle include airplane, drone, boat,car, bus, truck, bicycle, or the like. By acquiring data through, forexample, scanning the surrounding environment, range-finding system 100may assist the vehicle in perceiving its spatial location and objects(such as roadblocks, pedestrians, other vehicles, trees, signs, trafficlights, buildings, animals, etc.) in the environment. One of the keydata range-finding system 100 may acquire is its distance from theobjects. Together with other navigation information obtained by onboardsensors, such as GPS and IMU sensors, the acquired data enable themoving vehicle mounted with range-finding system 100 to recognize itslocation on a virtual map. As the frequency at which range-findingsystem 100 acquires data increases, the precision of vehicle positioningis also improved. Moreover, when the data are acquired at a sufficientlyhigh density, the contours and other three-dimensional (3D) informationof the surrounding objects may also be reconstructed by converting thedata into point clouds for 3D modeling. The embodiments described hereindisclose systems and methods that increase the transmission speed of theacquired data in the range-finding system, thus solving the thornyproblem of congested data transmission path that hinders the developmentof high-definition (HD) maps and autonomous driving.

Consistent with embodiments according to the present disclosure,range-finding system 100 may include a data processing and control unit110, a magnetic ring unit 120, and a rangefinder 130. Range-findingsystem 100 according to the present disclosure may use various rangingtechnologies, including radar, sonar, laser, LiDAR, or the like. UseLiDAR as an example. FIG. 2 illustrates a block diagram of an exemplaryLiDAR transmission and receiving module (LiDAR Tx/Rx module) 230,according to embodiments of the disclosure. LiDAR Tx/Rx module 230 maybe an example of rangefinder 130 of range-finding system 100 using theLiDAR technology. LiDAR Tx/Rx module 230 may include a transmitter 202and a receiver 204. Transmitter 202 may emit laser beams within a scanangle as it moves (e.g., rotates, swings, etc.). The scan angle can be ahorizontal angle, a vertical angle, or a combination of both.Transmitter 202 may include a laser source (not shown) that furtherincludes one or more laser emitters. Each laser emitter may emit a laserbeam. When there are multiple laser emitters, these emitters may form alaser emitter array. The laser emitters according to the presentdisclosure may generate laser beams in the ultraviolet, visible, or nearinfrared wavelength range.

In some embodiments, when leaving LiDAR Tx/Rx module 230, one of themultiple laser beams 207, laser beam 209, may be projected to an object212 in a first direction. Object 212 that reflects laser beam 209 mayinclude a wide range of objects, including, for example, metallicobjects, non-metallic objects, vehicles, bicycles, pedestrians,billboards, road signs, cement pavements, rocks, rain, chemicalcompounds, aerosols, clouds, and even single molecules. LiDAR Tx/Rxmodule 230 may further include a transmitter optical unit 208, which maybe used to collimate laser beams 207 and/or to focus laser beams foremission to the surrounding environment.

In some embodiments, receiver 204 may be configured to detect a returnbeam 211 that is reflected by object 212 from laser beam 209. Receiver204 can collect return beams reflected by object 212 and outputelectrical signals indicating the intensity of the return beams. Asillustrated in FIG. 2, LiDAR Tx/Rx module 230 may also include areceiver optical unit 214. Receiver optical unit 214 may be configuredto collect light from all directions within its field of view (FOV). Asan example, return beam 211 may be collected by receiver optical unit214.

Receiver 204 may include a photodetector array (not shown), which mayfurther include a plurality of photodetectors and may be configured todetect return beam 211 reflected from object 212. In some embodiments,each of the photodetectors in the photodetector array may convert alaser light (e.g., return beam 211) collected by receiver optical unit214 into an electrical signal 218 (e.g., a current or a voltage signal).Electrical signal 218 may be generated when photons are absorbed in aphotodiode. In some embodiments, LiDAR Tx/Rx module 230 may include asignal processor 220 configured to process electrical signal 218.

Referring back to FIG. 1, range-finding system 100 uses anunconventional approach to transmit acquired data 222. Conventionally,the lifespan of a rotating rangefinder (e.g., a rotating LiDAR system)is limited by wear and tear between the rotating part and the stationarypart of the rangefinder, because the rotating part and the stationarypart directly contact each other with cable transmission. As a result,when the rangefinder rotates, the contacting area between the two partsis susceptible to abrasion and failure, and the stability of signaltransmission cannot be guaranteed either. Magnetic ring unit 120according to the present disclosure uses near-field wirelesscommunication to transmit acquired data 222, thus getting rid of thepast problems associated with direct contact. More specifically,magnetic ring unit 120 may use a magnetic ring to establish a channelfor near-field wireless communication by electromagnetic field coupling.It is understood that such a magnetic-ring-based communication may beapplied to any other data communication device where direct electricalconnections are unfeasible, regardless of whether there are relativemovements between different parts of the device.

FIG. 3A illustrates a front view of an exemplary magnetic ring,according to embodiments of the disclosure. The magnetic ring mayinclude an inner ring 3 and an outer ring 1. Inner ring 3 may beconnected to a stationary part (not shown). Outer ring 1 may beconnected to a rotating part (not shown). Outer ring 1 may have a centeraxis 10 passing through its center. Inner ring 3 may have a center axis30 passing through its center. In the embodiment shown in FIG. 3A,center axis 10 may coincide with center axis 30. Each ring, if connectedto the rotating part, may rotate around the center axis. When therotating part rotates and generates a relative motion to the stationarypart, outer ring 1 may also have a relative motion to the inner ring. Aspace is provided between outer ring 1 and inner ring 3 so that there isno abrasion between the two rings when rotating, thus increasing thelifespan of the magnetic ring. For example, outer ring 1 may rotatealong with the rotating part while the inner ring remains stationary. Asa result, when current flows in an inner coil 4 (shown in FIG. 3E below)provided with inner ring 3 and in an outer coil 2 (shown in FIG. 3Cbelow) provided with outer ring 1, electromagnetic field coupling may becreated. Outer ring 1 and inner ring 3 also respectively includes anouter coil opening 12 and an inner coil opening 32, which will bediscussed in more detail below in conjunction with FIGS. 3B and 3D.

In some other embodiments, it is also conceived that the inner ring maybe connected to a rotating part (e.g., axle) while the outer ring may beconnected to a stationary part. For the same reason stated above, thisconfiguration may also generate electromagnetic field coupling betweenthe two coils of the magnetic ring. In yet some other embodiments, boththe inner ring and the outer ring may be connected to a rotating part,and the rotation speed of these two rings are configured to vary betweeneach other; thus, electromagnetic field coupling between the two coilsof the magnetic ring may also be generated.

FIG. 3B illustrates an oblique front view of an exemplary outer ring,according to embodiments of the disclosure. Outer ring 1 may include anouter coil slot 11 to accommodate outer coil 2 (shown in FIG. 3C). Theouter coil slot 11 may be provided at the inner side of outer ring 1. Insome embodiments, a cross section of outer coil slot 11 may be a concaveand outer coil opening 12 may be provided at the bottom of outer coilslot 11. Outer coil opening 12 may have an exit on one side (e.g. frontside as shown in FIG. 3B) that allows outer coil 2 to exit from outercoil slot 11 of outer ring 1. Thus, outer coil 2 can be connected to theother components outside of the magnetic ring (e.g., rangefinder, powersupply, data processing and control unit, etc.) of the range-findingsystem.

FIG. 3C illustrates another oblique front view of an exemplary outerring, according to embodiments of the disclosure. Outer ring 1 in FIG.3C is provided with outer coil 2 in outer coil slot 11 (shown in FIG.3B) that winds along the inside circumference of outer ring 1. One endof outer coil 2 protrudes from outer coil opening 12 for connection withother components of the range-finding system. Outer coil 2 according tothe present disclosure may be configured to transmit data or power. Incertain embodiments outer coil 2 may be configured both to transmit dataand to transfer power at the same time.

FIG. 3D illustrates an oblique front view of an exemplary inner ring,according to embodiments of the disclosure. Inner ring 3 may include aninner coil slot 31 to accommodate inner coil 4 (shown in FIG. 3E). Theinner coil slot 31 may be provided at the outer side of inner ring 3. Insome embodiments, a cross section of inner coil slot 31 may be a concaveand inner coil opening 32 may be provided at the bottom of inner coilslot 31. The size of inner coil slot 31 may match that of outer coilslot 11. For example, both inner coil slot 31 and outer coil slot 11 mayhave the same opening size. In some embodiments, inner coil slot 31 andouter coil slot 11 may be disposed facing each other, as illustrated inFIG. 3A. Inner coil opening 32 may have an exit on one side (e.g. frontside as shown in FIG. 3D) that allows inner coil 4 to exit from innercoil slot 32 of inner ring 3. Thus, inner coil 4 can be connected to theother components outside of the magnetic ring (e.g., rangefinder, powersupply, data processing and control unit, etc.) of the range-findingsystem.

FIG. 3E illustrates a side view of an exemplary inner ring, according toembodiments of the disclosure. Inner ring 3 in FIG. 3E is provided withinner coil 4 in inner coil slot 31 (shown in FIG. 3D) that winds alongthe outside circumference of inner ring 3. One end of inner coilprotrudes from inner coil opening 32 for connection with othercomponents of the range-finding system. Inner coil 4 according to thepresent disclosure may be configured to transmit data or power.

Consistent with some embodiments according to the present disclosure,outer ring 1 and inner ring 3 may be made from magnetic materials, suchas ferrite, cobalt, nickel, any alloy thereof, or the like. These ringsmay also be known as magnetic cores. In one example, the magnetic coresmay be made of Mn—Zn ferrite, such as Mn_(x)Zn_((1-x))Fe₂O₄, or Ni—Znferrite, such as Ni_(x)Zn_((1-x))Fe₂O₄. Magnetic cores made of Mn—Znferrite usually have an operation frequency below 1M Hz. Magnetic coresmade of Ni—Zn ferrite usually have an operation frequency of 1M-300M Hz.Magnetic cores according to the present disclosure may choose Ni—Znferrite as their materials in order to have an operating frequency of1M-300M Hz. In another example, the magnetic cores may be doped withimpurities in order to fine tune their electromagnetic characteristics.The magnetic cores according to the present disclosure may have highmagnetic permeability, high saturation flux density, low coercivity, lowpower loss, etc. For each magnetic ring, the more coils are wound insidethe ring, the more flux it may have. On the other side, higher number ofturns of coils may create higher capacitance between the coils, thusaffecting the transmission of high frequency components of the data.Thus, magnetic rings according to the present disclosure may be chosento have an appropriate number of turns of coils to ensure systembandwidth.

Each of outer ring 1 and inner ring 3 may have an integral structure.Both rings can be made from a mold having substantially the same sizeand contour as each of them. When outer ring 1 and inner ring 3 bothhave the integral structure and outer coil opening 32 and inner coilopening 12 are on the same side of the magnetic ring, the leakageinductance associated with outer ring 1 and inner ring 3 may be reduced,thus ensuring higher magnetic flux, which in turn enhances theperformance of electromagnetic field coupling. Moreover, the size of thecross section of the magnetic ring may also impact its transmissionability. In some embodiments, the size of the cross section may beadjusted to be below a predetermined value.

FIG. 4A illustrates an exploded view of an exemplary pair of magneticrings, according to embodiments of the disclosure. Magnetic ring 421 maybe implemented by the exemplary magnetic ring discussed in FIGS. 3A-3E.Likewise, magnetic ring 422 may also be implemented by the sameexemplary magnetic ring. As discussed in more details below, in someembodiments, one of magnetic rings 421, 422 may be used to transmitpower while the other may be used to transmit data; in otherembodiments, both magnetic rings 421, 422 may be used to transmit data.As shown in FIG. 4A, two magnetic rings 421, 422 may be aligned alongthe center axis of one of the magnetic rings. One magnetic ring may bedisposed above the other magnetic ring within the range-finding systemaccording to the present disclosure. In some embodiments, magnetic rings421, 422 may be provided with a space in between, thus reducing theinterference between the two magnetic rings. On the other side, becausea large space of outer ring 1 and inner ring 3 may cause leakage flux,thus affecting the bandwidth of the magnetic ring, the space consistentwith the current embodiments may not be too large. A person of skill inthe art would know how to strike a balance between less interference andless leakage flux with the teaching of the present disclosure. In otherembodiments, a magnetic shield 425 may be provided between magneticrings 421, 422. Thus, interference between the two magnetic rings may begreatly reduced or even eliminated. Magnetic shield 425 may be made froma material that diverts magnetic flux from the magnetic rings. Anexample of such a material may be a magnetic material, such as ferrite,cobalt, nickel, any alloy thereof, or the like.

FIG. 4B illustrates an exploded view of an exemplary rotatingrange-finding system 400 using a pair of magnetic rings, according toembodiments of the disclosure. Range-finding system 400 may be used as arange-finding system consistent with the present disclosure.Range-finding system 400 may include a rotating part 431 and astationary part 424. In some embodiments, inner rings of magnetic rings421, 422 are connected to stationary part 424 while outer rings ofmagnetic rings 421, 422 are connected to rotating part 431. Thus, whenrotating part 431 starts rotating, relative motion between the outerring and the inner ring of each of magnetic rings 421, 422 is created,which results in electromagnetic field coupling between the outer coilsand the inner coils, thus allowing transmission of one or both of dataor power.

Stationary part 424 according to some embodiments of the presentdisclosure may include a support axle 423. Inner rings of magnetic rings421, 422 may be fixed to support axle. This prevents the inner ringsfrom being displaced when range-finding system 400 is in operation.Additionally, rotating part 431 may include a rotating body 433. Outerrings of magnetic rings 421, 422 may be fixed to rotating body 433.Thus, the outer rings may rotate at the same angular speed as rotatingbody 433.

Although FIG. 4B describes an embodiment with two magnetic rings, aperson of skill in the art would know that the same teaching could beapplied to range-finding systems with any other number of magneticrings, such as one, three, four, five, or more.

Referring back to FIG. 1, data processing and control unit 110 mayreceive acquired data transmitted via magnetic ring unit 120. Such datatransmitted from rangefinder 130 to other components of range-findingsystem 100 may be referred to as “downlink data.” In some embodiments,it may process the data by converting them into point cloud data, andsubsequently reconstruct a 3D representation of the environment beingscanned by range-finding system 100. In other embodiments, dataprocessing and control unit 110 may send control data up to rangefinder130 via magnetic ring unit 120. Such data transmitted from dataprocessing and control unit 110 to other components of range-findingsystem 100 may be referred to as “uplink data.”

In embodiments where only a single magnetic ring is used in therange-finding system, the speed of data transmission is limited by thebandwidth of the communication channel of the magnetic ring unit. Thebandwidth may be denoted by bit per second for digital data or hertz(Hz) for analog signals. For the single-magnetic-ring range-findingsystems, the transmission speed may be improved by various coding ormodulation methods, for example, multilevel data transmission coding,multi-subband frequency division multiplexing, or other similar methods.These methods usually require additional components, such asdigital-analog converter, analog-digital converter, data modem,equalizer, etc. These components may add to the complexity and cost ofthe range-finding system, which may not be ideal in certainimplementations. Accordingly, the current disclosure also proposes arange-finding system having multiple magnetic rings constitutingmultiple communication channels. Thus, multiple channels may coexist orcooperate as the media for data transmission, thus increasing the datatransmission speed.

FIG. 5 illustrates a data communication flowchart 500 of the firstexemplary range-finding system 100, according to embodiments of thedisclosure. It is noted that the same description and implementationbelow may also be applied to other range-finding systems having three ormore magnetic ring channels. According to the present disclosure, eachof magnetic ring channels 1, 2 may be used as a communication channel inthe range-finding system. This pair of magnetic ring channels 1, 2 maybe implemented by the double-magnetic-ring configuration discussed inconjunction with FIGS. 4A-4B. When data is transmitted via a magneticring channel, it may be referred to as “data magnetic ring channel.”When power is transmitted via a magnetic ring channel, it may bereferred to as “power magnetic ring channel.” FIG. 5 is associated withan embodiment where both magnetic ring channels are used for datatransmission. When ranging data acquired by a rangefinder of therange-finding system is transmitted to a data processing and controlunit as downlink data via the magnetic ring channels, the datatransmission speed may be increased because more communication channelsare used than embodiments where only one magnetic ring is used.

According to embodiments of the present disclosure, at step 501, rangingdata may be acquired on the rangefinder side (that is, transmittingside) of the range-finding system. In some embodiments, the rangefindermay continuously sample ranging data for transmission, such as by aLiDAR Tx/Rx module.

According to embodiments of the present disclosure, to more efficientlytransmit ranging data using two or more magnetic ring channels, at step503, a data segmentation process may be performed based on one or moreparameters of the magnetic ring channels, which may be at leastpartially affected by intrinsic characteristics of each magnetic ring.The intrinsic characteristics may include the material of the magneticring, the space between inner and outer rings, the size of the crosssection of the magnetic ring, and the number of turns of coils disposedin the magnetic ring. The parameters may include the total bandwidth ofthe two or more channels combined, the number of channels, the maximumtransmission speed of each channel, etc. In particular, the totalbandwidth of the two or more channels may be calculated by aggregatingthe maximum transmission speed of each channel. When the channels aredesigned to have equivalent parameters of each other, the totalbandwidth may be calculated by multiplying the number of channels withthe maximum transmission speed of one channel.

In some embodiments, the amount of data being transmitted by eachchannel during a given period of time may be segmented by multiplying acoefficient to the total amount of data being transmitted by allchannels during that period, as demonstrated in the equation below.

$\begin{matrix}{d_{i} = {\frac{s_{i}}{\sum\limits_{1}^{N}\; s_{i}}D}} & {{Eq}.\mspace{14mu} (1)}\end{matrix}$

where d_(i) is the amount of data being transmitted by the i_(th)channel, D is the total amount of data being transmitted by allchannels, s_(i) is the bandwidth for the i_(th) channel, N is the totalnumber of channels. In these embodiments, the coefficient is thebandwidth ratio between that of the i_(th) channel and the totalbandwidth. This weighted distribution of segmented data allows rangingdata to be transmitted through each of the magnetic rings according toits transmission capacity (e.g., bandwidth), and therefore will notcause overflow of data in some channels that have smaller bandwidths.

In other embodiments, segmentation may be performed at step 503 underdifferent rules. For example, a sequential segmentation may be carriedout. The first half of a frame may be separated from its second half,and the two halves may be distributed to two different channels. Inanother example, an interval sampling may be used to extract a number ofsub-frames which equates to the number of channels, and may subsequentlybe distributed to different channels for transmission. Another exampleadopts frame skipping, which randomly samples the ranging data andperforms segmentation based on skipping rules and preset data structure.The preset data structure may be a weighted distribution of segmenteddata discussed above. With the teaching of the present disclosure, aperson of ordinary skill in the art would know that there are varioussegmentation methods applicable to step 503. Some are based ontime-division, while others are based on predetermined sampling methods.As long as the segmentation methods may improve the transmissionefficiency or robustness, they may be implemented in the range-findingsystem. In the present embodiment of the range-finding system thatincludes two magnetic ring channels, the acquired ranging data may besegmented into two parts of data according to the parameters of eachchannel and predetermined segmentation rules, and then may betransmitted via magnetic ring channel 1 and magnetic ring channel 2.

Thanks to the complexity of the real world, the amount of data acquiredby the rangefinder may vary significantly. For example, in a complexenvironment, a massive amount of data may be acquired; in a simpleenvironment or an environment with few changes, only a small amount ofdata may be acquired. Thus, according to some embodiments consistentwith the present disclosure, the data segmentation may be performedbased on various factors prior to transmission, such as the amount ofdata acquired by the rangefinder, number of magnetic ring channels,maximum transmission speed of each channel, etc. In an example of threemagnetic ring channels, when the amount of data is relatively small, thedata processing and control unit may control the rangefinder to use onlyone magnetic ring channel to transmit the downlink data. This has thebenefit of saving energy of the system. When the amount of data isrelatively large, the data processing and control unit may control therangefinder to use two or three magnetic ring channels to transmit thedownlink data. When one of the three magnetic ring channels has amaximum transmission speed of 512 Kbps and two other magnetic ringchannels have a maximum transmission speed of 256 Kbps each, the dataprocessing and control unit may control all three channels to transmitthe downlink data at a maximum transmission speed of 256 Kbps. Thisequal distribution of ranging data into three channels is the simplestway to perform data segmentation at step 503.

In some embodiments, the number of communication channels may be morethan sufficient to accommodate the relatively small amount of data beingtransmitted, and therefore to fully utilize the channel resource, therangefinder may determine the number of magnetic ring channels accordingto a preset transmission speed requirement and the maximum transmissionspeed of each channel. For example, the rangefinder may select a subsetof all magnetic ring channels for data transmission so that eachselected channel may be operated at its maximum or close-to-maximumtransmission speed. In some embodiments, when not all channels are used,it is preferable to select nonadjacent channels in order to minimize thecross-channel interference.

Prior to the segmentation, a check code may be inserted into the rangingdata to improve robustness and reduce probability of error duringtransmission. With the inserted check code, the transmitted data may bechecked upon receipt.

According to embodiments of the present disclosure, at steps 505, thesegmented data may be framed in the range-finding system. In someembodiments, steps 505 may be carried out on the range-finding side.Each step 505 may be configured to frame the data according to a presetdata transmission protocol. One of the data framing structure accordingto the present disclosure is disclosed below.

Sync Bit Frame Number Data Payload Check BitThe sync bit may be used to synchronize the data on the receiving sideof the transmission, so that data may be distinguished from noise. Theframe number may be used to recognize the position of the receivedframe, so that the receiver can restore the accurate data with referenceto the frame number. The data payload may contain the data beingtransmitted. The check bit may be used to check the data received by thereceiver in order to determine whether the data is accurately received.Examples of check methods include CRC check or other suitable checkmethods.

According to embodiments of the present disclosure, at steps 507, lineencoding may be performed in the range-finding system. In someembodiments, steps 507 may be carried out on the range-finding side. Toensure accuracy of the transmitted data, each channel may encode thedata prior to transmission. A person of skill in the art would know howto choose appropriate coding methods to encode the data. Simplerencoding methods may be used to reduce the amount of processing neededfor the system. To reduce cross-channel interference, different magneticring channels may be physically separated, such as by magnetic shield425 discussed in conjunction with FIGS. 4A-4B. Additionally, differentcoding methods may be applied to different channels to reducecross-channel interference. Less interference indicates higherreliability and accuracy of data transmission. After line encoding, theencoded downlink data may be transmitted to the data processing andcontrol side (i.e., the receiving side) via magnetic ring channels 1, 2.

According to embodiments of the present disclosure, at steps 509, clockmay be restored and ranging data may be decoded in the range-findingsystem. In some embodiments, steps 509 may be carried out on the dataprocessing and control side. With reference to the processing steps onthe rangefinder side, the data processing and control side performsmirroring steps to process the received data. For example, afterreceiving the downlink data respectively form magnetic rings 1, 2, atsteps 509, decoding of each downlink data in view of the coding methodsused at steps 507 may be carried out. The coding methods may becommunicated to steps 509 from steps 507 via magnetic ring channels orfrom other sources (such as a memory of the system). The decoding of thereceived data may further include a synchronization step using the syncbit contained in the data. After decoding, the downlink data may berestored.

According to embodiments of the present disclosure, at steps 511, thedecoded data may be deframed in the range-finding system. In someembodiments, steps 511 may be performed on the data processing andcontrol side. In accordance with the data framing structure adopted onthe rangefinder side, the following may be performed at steps 511:synchronize the frame, extract the check bit, and check the receiveddata frame. Once the check is completed, the data may be sent to thenext steps for recombination.

According to embodiments of the present disclosure, at step 513, thereceived data may be recombined in the range-finding system. In someembodiments, step 513 may be carried out on the data processing andcontrol side. On the data processing and control side, the frame numberof the received data frame may be extracted, thus recombining dataaccording to the extracted frame number. As a result, the original datainformation contained in the ranging data may be restored.

According to embodiments of the present disclosure, at step 515, theranging data may be processed in the range-finding system. In someembodiments, step 515 may be carried out on the data processing andcontrol side. The ranging data may be processed and analyzed forsubsequent steps, such as reconstruction of a 3D map.

The range-finding system according to the present disclosure includestwo or more communication channels, each of which employs a magneticring. This configuration improves the transmission speed of ranging dataand greatly enhances data transmission efficiency. Moreover, therange-finding system may select appropriate magnetic ring channel(s) fordata transmission according to the amount of ranging data beingtransmitted and/or the transmission speed required, thus increasing theusage rate of the channels. Furthermore, the selection may beself-adaptive, thus dispensing with the need of human operation.

It is understood that the various steps 501, 503, 505, 507, 509, 511,513, 515 described in conjunction with FIG. 5 may be implemented by asingle device or a component inside the range-finding system, orseparate devices or components with dedicated functions. In either case,the steps may be carried out by one or more processors of therange-finding system. Each processor may include any appropriate type ofgeneral-purpose or special-purpose microprocessor, digital signalprocessor, or microcontroller. Each processor may be configured as aseparate processor module dedicated to carry out at least one step.Alternatively, each processor may be configured as a shared processormodule for performing other functions unrelated to those described aboveassociated with FIG. 5.

FIG. 6A illustrates a block diagram of a second exemplary range-findingsystem 600, according to embodiments of the disclosure. Range-findingsystem 600 is capable of transmitting both downlink data and uplinkdata. In some embodiments, although rangefinder acquires ranging dataand transmit downlink data most of the time, it sometimes may also haveto receive uplink data, such as a control signal, from the dataprocessing and control unit. For example, the control signal may updatethe software of the rangefinder, or may adjust the parameters of thedetection and ranging of the rangefinder. Range-finding system 600according to the present disclosure may not need manual software updatevia a plug-in flash drive or a cable, which is much less efficient.

As shown in FIG. 6A, in addition to data processing and control unit610, magnetic ring unit 620, and rangefinder 630, range-finding system600 may further include a power supply unit 640, which may supply powerto rangefinder 630 under the control of data processing and control unit610. When data processing and control unit 610 receives a controlsignal, it may reboot power supply unit 640. Upon being notified of thesuccess reboot of power supply unit 640 by another signal, dataprocessing and control unit 610 may send the control signal to magneticring unit 620 in order to initiate the switch between uplink/downlinkdata transmission. In an example, downlink data transmission may beswitched to uplink data transmission. In another example, uplink datatransmission may be switched to downlink data transmission. It is notedthat, in other embodiments, switch between uplink and downlink datatransmission may not require a reboot of power supply unit 640. Anexample is when the switch is carried out by temporarily stoppingdownlink transmission with a stop signal from the processor ofrange-finding system 600.

Range-finding system 600 according to the present disclosure may furtherinclude an uplink/downlink switch unit 650 and a timing unit 660. Insome embodiments, when power supply unit 640 is rebooted,uplink/downlink switch unit 650 may suspend the transmission of downlinkdata by magnetic ring unit 620, and perform uplink data monitor. Whenuplink data transmission is detected, uplink/downlink switch unit 650may instruct magnetic ring unit 620 to receive uplink data. Timing unit660 may be coupled to uplink/downlink switch unit 650. The term “coupledto” used herein means connected electrically, which does not necessarilyrequire physical contact. When power supply unit 640 is rebooted, timingunit 660 starts to time the uplink data monitor by uplink/downlinkswitch unit 650.

In some embodiments, when rangefinder 630 completes receipt of uplinkdata via magnetic ring unit 620, it may send a signal to timing unit 660to stop timing of uplink data monitor, and the timing unit 660 may stopaccordingly and notify uplink/downlink switch unit 650 to reboot thetransmission of downlink data by magnetic ring unit 620. Moreover,uplink/downlink switch unit 650 may determine whether rangefinder 630receives the uplink data. If, after a predetermined duration, no signalindicating that rangefinder 630 has received uplink data is received bytiming unit 660, timing unit 660 may send an uplink data receipt failuresignal to data processing and control unit 610.

Optionally, data processing and control unit 610 may controluplink/downlink switch unit 650 to switch back to downlink datatransmission, and also determine the cause of the receipt failure. Afterthe cause is determined, data processing and control unit 610 maycontinue to transmit uplink data according to preset rules. Oneexemplary preset rule may be that if it is determined that magnetic ringunit 620 has not received the uplink data and the predetermined durationhas reached, data processing and control unit 610 may executecorresponding processing, for example, sending a signal touplink/downlink switch unit 650 to restart timing unit 660, thus causingmagnetic ring unit 620 to switch to a status of receiving the uplinkdata again. The predetermined duration may be a Fibonacci sequence, forexample, 1 min, 1 min, 2 min, 3 min, . . . , F(n), whereF(n)=F(n−1)+F(n−2) (n≥3, n∈N*). In some embodiments, the predeterminedduration may be shorter, such as a few seconds or even lower, while inother embodiments it may be longer. It is understood that when thepredetermined duration or the total duration has exceeded a thresholdvalue, a channel error warning may be notified, and the mode oftransmission may be switched back to downlink data transmission. Anotherexemplary preset rule is based on the times of restarting timing unit660 to re-initiate uplink data transmission after a previous receiptfailure. If the uplink data is successfully transmitted within apredetermined number of times, the uplink data transmission may beswitched to downlink data transmission. If the uplink data cannot betransmitted within a predetermined number of times, a warning messagemay be generated.

In other embodiments, the switch from uplink to downlink datatransmission may not be triggered by any of the above scenarios. Rather,the switch may simply be triggered by a predetermined duration,regardless whether the uplink data is received or not.

In some embodiments, when a signal indicating that the receipt of uplinkdata has not been completed after a predetermined duration,uplink/downlink switch unit 650 may send a delay request, which mayinformation such as the amount of data already received, data processingand control unit 610 may redefine the duration of timing unit 660according to the amount of data already received in order to allowcontinued receipt of uplink data. Once uplink data receipt is finished,uplink/downlink switch unit 650 may restart the transmission of downlinkdata.

In other embodiments, when a signal indicating that the receipt ofuplink data has not been completed after a predetermined duration,uplink/downlink switch unit 650 may send information about the amount ofdata already transmitted to data processing and control unit 610, andrangefinder 630 may save the already transmitted data. Meanwhile, dataprocessing and control unit 610 may initiate downlink data transmissionaccording to preset rules, and rearrange a time for resuming thetransmission of the uplink data. When such time comes, data processingand control unit 610 may continue transmission of the rest of the uplinkdata.

Through the various embodiments discussed above, one may understand thatthe status of uplink data transmission may be effectively managed bytiming unit 660. Data processing and control unit 610 may control theswitch of sending/receipt of the uplink data and the downlink data byrebooting power supply unit 640, thus achieving duplex communication ofmagnetic ring unit 620. As a result, magnetic ring unit 620 may transmitranging data as downlink data while also transmitting uplink data, whichsimplifies configuration of the system and improves its ease of use.

According to the present disclosure, range-finding system 600 mayfurther include a data segmentation unit 680. Prior to the transmissionof the downlink data, data segmentation unit 680 may acquire parametersof magnetic ring unit 620. It may also receive the downlink data (e.g.,ranging data), and segment the downlink data based on the acquiredparameters. Data segmentation unit 680 may further distribute thesegmented downlink data to two or more communication channels ofmagnetic ring unit 620 for transmission. In some embodiments of thepresent disclosure, data segmentation unit 680 in range-finding system600 may be the same as that used at step 503 shown in FIG. 5.

According to the present disclosure, range-finding system 600 mayfurther include a data recombination unit 690. Data recombination unit690 may receive the segmented downlink data (e.g., ranging data) fromtwo or more of the communication channels of magnetic ring unit 620, andrecombine the segmented downlink data. The recombined downlink data maybe transmitted to data processing and control unit 610. In someembodiments of the present disclosure, data recombination unit 690 inrange-finding system 600 may be the same as that used at step 513 shownin FIG. 5.

According to the present disclosure, power supply unit 640 in FIG. 6Amay be designed to have a compact size, high conversion rate, largepower output, and excellent reliability. In some embodiments, powersupply unit 640 may use a magnetic ring that transmits power throughelectromagnetic coupling. When the range-finding system incorporatingpower supply unit 640 rotates and one of the coils wound along the innerring and the outer ring of the magnetic ring is provided with current,the magnetic fields of the inner ring and the out ring may interact witheach other to create current on the other coil of the magnetic ring,thus transmitting electric power to components coupled to the othercoil. In some embodiments, the inner ring and the outer ring of themagnetic ring of power supply unit 640 may differ in size, such as thosediscussed in conjunction with FIGS. 3A-3E.

FIG. 6B illustrates a block diagram of the equivalent circuit of anexemplary power supply unit 641, according to embodiments of thedisclosure. When in operation, the inner ring and the outer ring mayeffectively be viewed as a transformer (T) with leakage inductance(L_(k)) and magnetizing inductance (L_(m)) for the purpose of circuitanalysis. One of the inner and outer rings may be viewed as a primarydriving circuit, and the other as a secondary rectifier circuit. A loadmay be coupled to the secondary rectifier circuit. The load may be theequivalent load of all circuits on the rotating part of therange-finding system. The primary driving circuit may be a half-bridgedriving circuit or a full-bridge driving circuit. The secondaryrectifier circuit may be a half-bridge rectifier circuit or afull-bridge rectifier circuit.

Due to the existence of L_(k), when the current passing through theprimary driving circuit increases, the driving voltage diverted to L_(k)also increases, and consequently the voltage applied to the primary sideof the transformer decreases. Leakage inductance L_(k) may further causea voltage spike when the primary driving circuit switches its operationmode, thus creating large electromagnetic interference (EMI).

According to the present disclosure, a resonant capacitance (C_(s)) isprovided in the primary driving circuit. Thus, C_(s) may be adjusted sothat it may form a resonance circuit with L_(k) when the equivalentfrequency of the serially coupled L_(k) and C_(s) is equal to theoperating frequency of the primary driving circuit (f_(s)), which may bedemonstrated by the following equation:

$\begin{matrix}{f_{s} = \frac{1}{2\; \pi \sqrt{L_{k} \cdot C_{s}}}} & {{Eq}.\mspace{14mu} (2)}\end{matrix}$

In such a resonance circuit, none of the voltage is diverted to eitherL_(k) or C_(s), and the power output to the secondary rectifier circuitcan be significantly improved. As a result, power loss may be eliminatedand transmission efficiency may be enhanced. Moreover, EMI may also bereduced. One application of the embodiments associated with FIG. 6B maybe found in resonance unit 1162, which will be discussed in conjunctionwith FIG. 11A below.

FIG. 7 illustrates a data communication flowchart 700 of the secondexemplary range-finding system 600, according to embodiments of thedisclosure. It is noted that the same description and implementationbelow may also be applied to other range-finding systems having three ormore magnetic ring channels. According to the present disclosure, eachof magnetic ring channels 3, 4 may be used as a communication channel inthe range-finding system. This pair of magnetic ring channels 3, 4 maybe implemented by the double-magnetic-ring configuration discussed inconjunction with FIGS. 4A-4B. FIG. 7 is associated with an embodimentwhere one magnetic ring channel is used for data transmission, andanother magnetic ring channel is used for both data and powertransmission.

Steps 701, 703, 705, 707, 709, 711, 713, 715 in FIG. 7 may be the sameas those corresponding steps 501, 503, 505, 507, 509, 511, 513, 515 inFIG. 5, and thus will not be repeated herein. The following descriptionwill be focused on uplink data transmission.

According to the present disclosure, control data may be generated atstep 702. In some embodiments, step 706 may be carried out on the dataprocessing and control side. When the range-finding system has uplinkdata to be transmitted, such as a software update request to therangefinder, the data processing and control unit may be notified. Whenthe data processing and control unit is notified, it controls reboot ofthe power supply unit, as at step 700-1, which in turn causes reboot ofthe rangefinder. Upon reboot of the rangefinder, a timer is started, asat step 700-2, and a switch between the uplink data transmission anddownlink data transmission is triggered, as at step 708-1 or step 708-2.In this particular embodiment, a switch from the status of sendingranging data to the status of receiving uplink data is performed.Therefore, the data processing and control unit is able to notify therangefinder, via reboot of the power supply unit, to receive the uplinkdata in a new and simple manner.

According to the present disclosure, the generated control data may beframed according to a predetermined data transmission protocol at step704. In some embodiments, step 706 may be carried out on the dataprocessing and control side. In some embodiments, the range-findingsystem may choose one communication channel that uses a magnetic ringfor transmitting the uplink data. Thus, data segmentation may not beneeded, and the data may be directly framed. There are several existingmethods of framing. For example, one of them associated with the currentembodiments is listed below.

Sync Bit Data Payload Check BitThe sync bit may be used to synchronize the data on the receiving sideof the transmission, so that data may be distinguished from noise. Thedata payload may contain the data being transmitted. The check bit maybe used to check the data received by the receiver in order to determinewhether the data is accurately received. Examples of check methodsinclude CRC check or other suitable check methods.

According to the present disclosure, line coding may be performed on thereceived data at step 706. In some embodiments, step 706 may be carriedout on the data processing and control side. To ensure accuracy of thetransmitted data, each channel may encode the data prior totransmission. A person of skill in the art would know how to chooseappropriate coding methods to encode the data. Simpler encoding methodsmay be used to reduce the amount of processing needed for the system. Toreduce cross-channel interference, different magnetic ring channels maybe physically separated, such as by magnetic shield 425 discussed inconjunction with FIGS. 4A-4B. Additionally, different coding methods maybe applied to different channels to reduce cross-channel interference.Less interference indicates higher reliability and accuracy of datatransmission.

According to the present disclosure, switch of uplink and downlinktransmission may be performed at step 708-1. In some embodiments, step708-1 may be carried out on the data processing and control side. Atthis step 708-1, the data processing and control unit no longer receivesranging data from the rangefinder; rather, the data processing andcontrol unit controls the magnetic ring unit to use one of magnetic ringunit's channels to transmit uplink data. Correspondingly, on therange-finding side (that is, uplink data receiving side) and prior toreceipt of the uplink data by the rangefinder, the rangefinder may startthe timer at step 700-2 when power supply to the rangefinder isrebooted. The uplink/downlink data switch unit may also switch the datasending mode to the data receiving mode at step 708-2. In someembodiments, step 708-2 may be carried out on the range-finding side.Before the timer reaches a predetermined duration of time, therangefinder remains in the status of receiving the uplink data and theuplink/downlink data switch unit also remains in the uplink receivingstatus.

According to the present disclosure, at step 710, the rangefinder mayrestore the clock and decode the uplink data sent from the dataprocessing and control side via one of the magnetic ring channels. Insome embodiments, step 710 may be carried out on the range-finding side.Opposite to the processing of the transmitted data on the dataprocessing and control side, the range-finding side may process thereceived data in a reverse manner. For example, when the rangefinderreceives the uplink data via magnetic ring channel 4, it may synchronizethe received frame, start decoding, and restore the data.

According to the present disclosure, the uplink data may be deframed atstep 712. In some embodiments, step 712 may be carried out on therange-finding side. In accordance with the data framing structureadopted on the data processing and control side, the following may beperformed at step 712: synchronize the frame, extract the check bit, andcheck the received data frame. Once the check is completed, the data maybe sent to the next steps for recombination.

According to the present disclosure, the uplink data may be processed atstep 714. In some embodiments, step 714 may be carried out on therange-finding side. In the embodiments associated with FIG. 7, theuplink data may be a control data generated at step 702 on the dataprocessing and control side and transmitted all the way through steps704, 706, 708, 710, 712, and 714 as uplink data. The uplink data may beprocessed and analyzed by the rangefinder for subsequent steps, such asupdating the software of the range-finding system.

The settings of the timer may be preset. In some embodiments, the timermay time the clock according to the transmission status of the uplinkdata. When the clock runs out, the rangefinder may stop receiving theuplink data and change back to the range-finding mode to transmitdownlink data. In other embodiments, when the timer reaches apredetermined duration, the uplink/downlink data switch unit determineswhether the magnetic ring channel successfully receives uplink data. Ifnot, a receipt failure signal may be sent to the data processing andcontrol unit. By this means, the data processing and control unit mayknow the transmission result of the uplink data, and carry out furtherprocessing accordingly. For example, one of the further processing maybe reinitiating the uplink data transmission. If the uplink/downlinkdata switch unit determines that the uplink data transmission issuccessful, a transmission success signal may be sent to the dataprocessing and control unit.

When it is determined the magnetic ring channel does not receive theuplink data, and the timer has reached a predetermined duration, thedata processing and control unit may execute corresponding processingaccording to preset rules. For example, it may send a signal to theuplink/downlink switch unit to restart the timing unit, thus causing themagnetic ring channel to switch to a status of receiving the uplink dataagain. The predetermined duration may be a Fibonacci sequence, forexample, 1 min, 1 min, 2 min, 3 min, . . . , F(n), whereF(n)=F(n−1)+F(n−2) (n≥3, n∈N*). In some embodiments, the predeterminedduration may be shorter, such as a few seconds or even lower, while inother embodiments it may be longer. It is understood that when thepredetermined duration or the total duration has exceeded a thresholdvalue, a channel error warning may be notified, and the mode oftransmission may be switched back to downlink data transmission. Anotherexemplary preset rule is based on the times of restarting timing unit660 to re-initiate uplink data transmission after a previous receiptfailure. If the uplink data is successfully transmitted within apredetermined number of times, the uplink data transmission may beswitched to downlink data transmission. If the uplink data cannot betransmitted within a predetermined number of times, a warning messagemay be generated.

The range-finding system according to the present disclosure may shareone communication channel for both uplink and downlink transmission.This makes it easy to transmit uplink data, improves system performance,simplifies system configuration, and enhances efficiency of the system.

FIG. 8 illustrates a block diagram of a third exemplary range-findingsystem 800, according to embodiments of the disclosure. Range-findingsystem 800 may include a rangefinder 830, a magnetic ring unit 820, adata processing and control unit 810, a power supply unit 840, and acontrol signal magnetic ring unit 870.

In some embodiments, rangefinder 830 may transmit acquired ranging dataas downlink data to magnetic ring unit 820, and receive uplink datatransmitted from data processing and control unit 810 via magnetic ringunit 820. Magnetic ring unit 820 may include at least two communicationchannels, each of which may include a magnetic ring. Each magnetic ringmay be implemented by the exemplary magnetic ring discussed in FIGS.3A-3E. Magnetic ring unit 820 may transmit downlink data to dataprocessing and control unit 810. Data processing and control unit 810may receive and process the downlink data (e.g., ranging data fromrangefinder 830). In other embodiments, data processing and control unit810 may control magnetic ring unit 820 to receive and process thedownlink data. It may further control magnetic ring unit 820 to transmituplink data to rangefinder 810. Power supply unit 840 may supply powerto rangefinder 830 under the control of data processing and control unit810. In some embodiments, power supply unit 840 may comprise a powerchannel for transmitting power from data processing and control unit 810to rangefinder 830. The power channel may comprise a magnetic ringimplemented by the exemplary magnetic ring discussed in FIGS. 3A-3E.

Consistent with the embodiments according to the present disclosure,control signal magnetic ring unit 870 may include one control channel,which may include a magnetic ring. The magnetic ring may be implementedby the exemplary magnetic ring discussed in FIGS. 3A-3E. Control signalmagnetic ring unit 870 may transmit the uplink data sent from dataprocessing and control unit 810 to rangefinder 830.

Besides at least two communication channels using magnetic rings,range-finding system 800 according to the present disclosure may befurther provided with an independent control signal magnetic ring unit870 as a control channel specifically dedicated to the transmission ofuplink data to rangefinder 830. Thus, this dedicated communicationchannel makes it more convenient to transmit uplink data thanrange-finding system 600, because it can transmit uplink data at anytime without interrupting the operation of the rangefinder in therange-finding system.

Range-finding system 800 may further include a data segmentation unit880 and a data recombination unit 890. The functions of these two unitsare similar to those of data segmentation unit 680 and datarecombination unit 690, and thus will not be further described herein.

FIG. 9 illustrates a data communication flowchart 900 of the thirdexemplary range-finding system 800, according to embodiments of thedisclosure. Range-finding system 800 includes at least three magneticring channels 5, 6, 7. In the embodiments associated with FIG. 9, twochannels 5, 6 may be used to transmit downlink data (e.g., ranging data)while one magnetic ring channel 7 may be used to transmit uplink data(e.g., control signals). Magnetic ring channel 7 may be referred to as a“control channel.”

Steps 901, 903, 905, 907, 909, 911, 913, 915 in FIG. 9 may be the sameas those corresponding steps 501, 503, 505, 507, 509, 511, 513, 515 inFIG. 5, and thus will not be repeated herein. Moreover, steps 902, 904,906, 908, 910, 912, 914 in FIG. 9 may be the same as those correspondingsteps 702, 704, 706, 708, 710, 712, 714 in FIG. 7, and thus will not berepeated herein. Compared to first range-finding system 100 and secondrange-finding system 600, range-finding system 800 transmits uplink dataand downlink data in separate communication channels, thus reducinginterference and increasing transmission efficiency. To further reducecross-channel interference, different magnetic ring channels may bephysically separated, such as by magnetic shield 425 discussed inconjunction with FIGS. 4A-4B.

Consistent with the embodiments according to the present disclosure,power supply units in each of the exemplary range-finding systems 100,600, 800 may be a wireless power supply unit, which provides powerthrough electromagnetic induction. Alternatively, power supply units mayprovide power by power magnetic rings, which transmits power to therangefinder through voltages created between the inner and outer rings.In such an embodiment, one may use a power magnetic ring unit. The powermagnetic ring unit may include a channel that further includes amagnetic ring. The power magnetic ring unit may transmit power to therangefinder under the control of the data processing and control unit.

Embodiments according to the present disclosure provide a range-findingsystem. The range-finding system is capable of data transmission. Therange-finding system includes at least two communication channels, eachof which includes a magnetic ring. Such a configuration improves thetransmission speed of ranging data, and allows a massive amount of datato be transmitted from the rangefinder to the data processing andcontrol unit. An example of a real-world application is a multi-beamLiDAR system. The existence of an uplink/downlink switch unit and arebootable power supply unit may permit sharing of one magnetic ringchannel for bi-directional data transmission (e.g., uplink anddownlink). Thus, the channel may be fully utilized and the systemconfiguration may be simplified. The addition of a magnetic ring channeldedicated to transmitting uplink data improves the communicationefficiency of the range-finding system with respect to both transmissiondirections (e.g., uplink and downlink). Thus, the uplink datatransmission is independent from the downlink data transmission, and asa result the system controllability and data transmission efficiency mayfurther be enhanced.

FIG. 10 illustrates a block diagram of a magnetic-ring-basedcommunication system 1000, according to embodiments of the disclosure.Communication system 1000 may be used to transmit data or power betweentwo different parts of a system. The two parts may belong tocommunication system 1000 itself, or another system, such as arange-finding system as described herein. Communication system 1000 mayuse two channels for transmission, with one communication channel fordata transmission and one power channel for power transmission. Thecommunication channel may have duplex communication ability. Forexample, it may transmit both downlink data and uplink data by timedivision, which means the transmission is one direction at any giventime. If more than one magnetic ring is provided in the communicationchannel, downlink data and uplink data may be simultaneouslytransmitted.

As illustrated in FIG. 10, communication system 1000 may include amainboard control unit 1010, a mainboard magnetic ring unit 1020, abackboard magnetic ring unit 1030, a switch unit 1040, a backboardcontrol unit 1050, and a power magnetic ring unit 1060. Switch unit 1040may have similar functions as uplink/downlink switch unit 650 describedin conjunction with FIG. 6A. Switch unit 1040 may receive a downlinkcontrol signal and an uplink control signal. When it receives thedownlink control signal, switch unit 1040 may switch to downlinktransmission status, and mainboard control unit 1010 transmits downlinkdata to backboard control unit 1050 via the communication channel, whichincludes a mainboard magnetic ring unit 1020 and a backboard magneticring unit 1030. When it receives the uplink control signal, switch unit1040 may switch to uplink transmission status, and backboard controlunit 1050 transmits uplink data to mainboard control unit 1010 via thecommunication channel.

In some embodiments, mainboard control unit 1010 may be a standalonepart of communication system 1000. Mainboard control unit 1010 maygenerate various types of downlink data by itself, such as imagery data,voice data, temperature data, etc. It is understood that othercomponents may be mounted on mainboard control unit 1010 to assist thegeneration of the downlink data, such as an image sensor, a microphone,a thermometer, etc. In other embodiments, mainboard control unit 1010may be a part of another system, such as a range-finding system.Mainboard control unit 1010 may receive data from a different part ofthat system, such as a LiDAR transmission and receiving module. Thus,mainboard control unit 1010 may function as a relay that forward thosedata as downlink data to the communication channel.

In some embodiments, backboard control unit 1050 may be a standalonepart of communication system 1000. Backboard control unit 1050 mayreceive and process various types of downlink data by itself, such asimagery data, voice data, temperature data, etc. It is understood thatother components may be mounted on backboard control unit 1050 to assistthe processing of the downlink data, such as one or more general-purposeprocessors or one or more specifically designed processors. In otherembodiments, backboard control unit 1050 may be a part of anothersystem, such as a range-finding system. Backboard control unit 1050 mayforward the received downlink data to a different part of that system,such as a data processing and control unit. Thus, backboard control unit1050 may function as a relay that receives and forwards downlink datatransmitted from the communication channel. In other embodiments,backboard control unit 1050 may generate or forward uplink data tomainboard control unit 1010 via the communication channel. Such uplinkdata may include control signal, firmware update request, etc. Infurther embodiments, backboard control unit 1050 may send at least oneof uplink control signal or downlink control signal to switch unit 1040.

According to some embodiments of the present disclosure, in a normaloperation, mainboard control unit 1010 transmits downlink data tobackboard control unit 1050. If a firmware update is needed, backboardcontrol unit 1050 may send an uplink control signal to switch 1040, thusstarting uplink data transmission for firmware update. When the updateis complete, backboard control unit 1050 sends a downlink control signalto switch 1050, thus changing uplink data transmission back to downlinkdata transmission. In some other embodiments, the uplink control signalor the downlink control signal may be transmitted from another unit orcomponent of communication system 1000. As shown in FIG. 10, data andpower transmission is represented by solid lines, while control signaltransmission is represented by dotted lines.

Mainboard magnetic ring unit 1020 according to the current disclosuremay be implemented by an inner ring (such as inner ring 3 in FIGS.3A-3E) or an outer ring (such as outer ring 1 of FIGS. 3A-3E) of amagnetic ring. In some embodiments, mainboard magnetic ring unit 1020may receive the downlink data from mainboard control unit 1010 andtransmit them to backboard magnetic ring unit 1030. Backboard magneticring unit 1030 according to the current disclosure may be implemented byan outer ring (such as outer ring 1 in FIGS. 3A-3E) or an inner ring(such as inner ring 3 of FIGS. 3A-3E) of a magnetic ring. If one ofmainboard magnetic ring unit 1020 and backboard magnetic ring unit 1030is an inner ring, the other may be an outer ring so that the two ringsmay form a complete and functional magnetic ring. After receiving thedownlink data from mainboard magnetic ring unit 1010, backboard magneticring unit 1030 may transmit the same to switch unit 1040. Switch unit1040 may or may not transmit downlink data to backboard control unit1050, depending on which status it is in.

In some embodiments, power magnetic ring unit 1060 may transmit powersupplied from backboard control unit 1060 to mainboard control unit1010. Power magnetic ring unit 1060 may comprise a mainboard powermagnetic ring unit and a backboard power magnetic ring unit (not shown).

According to the present disclosure, the duplex transmission of uplinkand downlink data and the supply of power may be carried outsimultaneously or sequentially. When carried out simultaneously, thecommunication system may become more efficient in operation. When one ormore magnetic rings described in conjunction with FIGS. 3A-3E and 4A-4Bare used, the communication system may have a longer lifespan and morerobustness.

FIG. 11A illustrates a detailed block diagram of a magnetic-ring-basedcommunication system 1100, according to embodiments of the disclosure.In some embodiments, communication system 1100 may include a downlinksignal conversion unit 1111. It may receive downlink data transmittedfrom a mainboard control unit 1110 and convert it into a downlinkdifferential signal. Communication system 1100 may also include adownlink driving unit 1112. It may receive the downlink differentialsignal and amplify it to obtain an amplified downlink differentialsignal. An example of downlink driving unit 1112 may be an amplifier.Communication system 1100 may also include a downlink impedance matchingunit 1113. It may receive the amplified downlink differential signal,match impedance of the amplified downlink differential signal, andoutput a downlink analog signal.

Subsequently, mainboard magnetic ring unit 1120 may receive the downlinkanalog signal and convert it into electromagnetic energy. Then backboardmagnetic ring unit 1130 may convert the electromagnetic energy intodownlink analog signal. Such a transmission of downlink data may bewireless, meaning that there is no physical contact between mainboardmagnetic ring unit 1120 and backboard magnetic ring unit 1130. Thus,abrasion between the two parts can be eliminated, thereby increasing thelifespan of the magnetic ring while also achieving high speed ofrotation.

In some embodiments, communication system 1100 may include a downlinksignal detection unit 1114 and a downlink analog-to-digital (AD)converter 1115. Downlink signal detection unit 1114 may receive thedownlink analog signal from backboard magnetic ring unit 1130 whenswitch unit 1140 is in the downlink transmission status. It may furtherfilter the downlink analog signal. An example of downlink signaldetection unit 1114 may be a low-pass filter. Downlink AD converter 1115may receive the downlink analog signal and convert it into downlinkdata. The downlink data may be output to backboard control unit 1150 forfurther processing.

In some embodiments, communication system 1100 may include an uplinksignal conversion unit 1151. It may receive uplink data transmitted fromback control unit 1150 and convert it into an uplink differentialsignal. Communication system 1100 may also include an uplink drivingunit 1152. It may receive the uplink differential signal and amplify itto obtain an amplified uplink differential signal. An example of uplinkdriving unit 1112 may be an amplifier. Communication system 1100 mayalso include an uplink impedance matching unit 1153. It may receive theamplified uplink differential signal, match impedance of the amplifieduplink differential signal, and output an uplink analog signal.

Subsequently, backboard magnetic ring unit 1130 may receive the uplinkanalog signal and convert it into electromagnetic energy. Then mainboardmagnetic ring unit 1120 may convert the electromagnetic energy intouplink analog signal. Such a transmission of uplink data may be wirelessas well, the benefit of which will not be repeated herein.

In some embodiments, communication system 1100 may include an uplinksignal detection unit 1154 and an uplink AD converter 1155. Uplinksignal detection unit 1154 may receive the uplink analog signal frommainboard magnetic ring unit 1120 when switch unit 1140 is in the uplinktransmission status. It may further filter the uplink analog signal. Anexample of uplink signal detection unit 1154 may be a low-pass filter.Uplink AD converter 1155 may receive the uplink analog signal andconvert it into uplink data. The uplink data may be output to maincontrol unit 1110 for further processing.

Consistent with some embodiments according to the present disclosure,one or more of mainboard control unit 1110, downlink signal conversionunit 1111, downlink driving unit 1112, downlink impedance matching unit1113, mainboard magnetic ring unit 1120, uplink signal detection unit1154, or uplink AD converter 1155 may be provided on a mainboard.Similarly, one or more of backboard control unit 1150, uplink signalconversion unit 1151, uplink driving unit 1152, uplink impedancematching unit 1153, mainboard magnetic ring unit 1130, downlink signaldetection unit 1114, or downlink AD converter 1115 may be provided on abackboard.

According to the present disclosure, communication system 1100 mayinclude a power signal driving unit 1161. It may receive a power signalfrom backboard control unit 1150 and amplify the power signal.Communication system 1100 may also include a resonance unit 1162. It mayreceive the amplified power signal, and convert it into a resonantsignal to be transmitted to a power channel, which includes a backboardpower magnetic ring sub-unit 11601 and a mainboard power magnetic ringsub-unit 11602. Each of backboard power magnetic ring sub-unit 11601 andmainboard power magnetic ring sub-unit 11602 according to the currentdisclosure may be implemented by an outer ring (such as outer ring 1 inFIGS. 3A-3E) or an inner ring (such as inner ring 3 of FIGS. 3A-3E) of amagnetic ring. If one of backboard power magnetic ring sub-unit 11601and mainboard power magnetic ring sub-unit 11602 is an inner ring, theother may be an outer ring so that the two rings may form a complete andfunctional magnetic ring.

Subsequently, backboard power magnetic ring sub-unit 11602 may receivethe resonant signal and convert it into electromagnetic energy. Thenmainboard power magnetic ring sub-unit 11601 may convert theelectromagnetic energy into an AC power signal. Such a transmission ofpower may be wireless as well, the benefit of which will not be repeatedherein.

In some embodiments, communication system 1100 may further include afull-wave rectifier unit 1163. It may receive the AC power signal frommainboard power magnetic ring sub-unit 11602 of the power channel, andconvert it into a DC power signal. Communication system 1100 may furtherinclude a voltage regulation unit 1164. It may receive the DC powersignal from full-wave rectifier unit 1163, and regulate it to be outputto mainboard control unit 1110.

To further reduce cross-channel interference, the communication channeland the power channel may be physically separated, such as by magneticshield 425 discussed in conjunction with FIGS. 4A-4B.

FIG. 11B illustrates a block diagram of switch unit 1140 of themagnetic-ring-based communication system 1100, according to embodimentsof the disclosure. In some embodiments, switch unit 1140 may include acontrol port 1141. It may receive at least one of the uplink controlsignal or the downlink control signal. If there are other types ofcontrol signals, control port 1141 may also be the inlet of thesesignals for switch unit 1140. Switch unit 1140 may also include amagnetic ring port 1142, which is coupled to backboard magnetic ringunit 1130. This allows switch unit to transmit data to or from backboardmagnetic ring unit 1130. Switch unit 1140 may further include a downlinkconduction port 1143, which is coupled to downlink signal detection unit1114. This allows switch unit 1140 to take in a downlink analog signalfiltered by downlink signal detection unit 1114. Switch unit 1140 mayfurther include an uplink conduction port 1144, which is coupled touplink impedance matching unit 1153. This allows switch unit 1140 totake in an uplink analog signal.

According to the present disclosure, when switch unit 1140 is turned toa downlink status by a downlink control signal input from control port1141, uplink conduction port 1144 may be shut down. Thus, the downlinksignal may pass through backboard magnetic ring port 1142 and downlinkconduction port 1143 to reach downlink signal detection unit 1114. Inother words, backboard magnetic ring port 1142 and downlink conductionport 1143 may be coupled together. In contrast, when switch unit 1140 isturned to an uplink status by an uplink control signal input fromcontrol port 1141, downlink conduction port 1143 may be shut down. Thus,the uplink signal may pass through uplink impedance matching unit 1153and uplink conduction port 1143 to reach backboard magnetic ring unit1130. In other words, uplink impedance matching unit 1153 and backboardmagnetic ring unit 113 may be coupled together.

In other embodiments according to the present disclosure, the switchunit of the magnetic-ring-based communication system may be provided ata different location from switch unit 140 in FIG. 10. For example, theswitch unit may be provided between the mainboard control unit and themainboard magnetic ring unit. The functions of the switch unit in theseembodiments may be the same as switch unit 1040, except the ports of theswitch unit may be designed differently. In this example, the controlport may remain at the same location as that of switch unit 1040. Themainboard control unit may replace the backboard control unit to send atleast one of the downlink control signal or the uplink control signal tothe switch unit. The magnetic ring port may be coupled to the mainboardmagnetic ring unit. The downlink conduction port may be coupled to thedownlink impedance matching unit. The uplink conduction port may becoupled to the uplink signal detection unit. In these embodiments, whenthe switch unit is in a downlink status, the uplink conduction port maybe shut down, and the downlink signal may pass through the magnetic ringport and the downlink conduction port. When the switch unit is in anuplink status, the downlink conduction part may be shut down, and theuplink signal may pass through the magnetic ring port and the uplinkconduction port. Such a configuration and location of the switch unitmay be implemented in the embodiments associated with FIG. 9. Morespecifically, the switch unit may be coupled to magnetic ring channel 7in FIG. 9, and when it changes uplink transmission mode to downlinktransmission mode, all three magnetic ring channels 5, 6, 7 in FIG. 9may start transmitting downlink data, thus temporarily increasing thebandwidth of the range-finding system 900. Therefore, the switch unitaccording to these embodiments may add more flexibility to the downlinkdata transmission of a range-finding system that uses a separate channelto transmit uplink data.

FIG. 12 illustrates a method for data transmission within arange-finding system, according to embodiments of the disclosure. It isto be appreciated that some of the steps may be optional to perform thedisclosure provided herein, and that some steps may be inserted in theflowchart of the method that are consistent with other embodimentsaccording to the current disclosure. Further, some of the steps may beperformed simultaneously, or in an order different from that shown inFIG. 12. It is further understood that the components used in performingthe method may be implemented by any of the similar or same componentsdescribed above in more details. The same rationales discussed in thisparagraph also apply to FIGS. 13 and 14 to be discussed below.

As shown in FIG. 12, a method 1200 may include, at step 1202, acquiring,by a rangefinder, ranging data. An example of a rangefinder is shown asLiDAR Tx/Rx Module 230 in FIG. 2, although any other rangefinder ispermitted, as discussed above. The ranging data acquired by therangefinder may be, for example, acquired data 222 as illustrated inFIG. 2. The process of, at step 1202, acquiring the ranging data mayinclude transmitting by a transmitter (for example, transmitter 202 inFIG. 2) and receiving a reflected signal (for example, return beam 211in FIG. 2) at a receiver (for example, receiver 204 in FIG. 2). At step1202, the acquiring can also include performing signal processing using,for example, signal processor 220 in FIG. 2.

Method 1200 may also include, at step 1204, transmitting, via a magneticring unit including one or more communication channels, the ranging dataas downlink data from the rangefinder to a data processing and controlunit. Method 1200 may further include receiving the ranging data at adata processing and control unit. Examples of this process areillustrated in FIGS. 5, 7, and 9.

In some embodiments, when, at step 1204, the transmission uses two ormore communication channels, the transmitting can include segmenting thedownlink data (see, for example, segment the data 503 in FIG. 5),framing the downlink data (see, for example, frame the data 505 in FIG.5), line encoding the downlink data (see, for example, line encoding 507in FIG. 5), and distributing the segmented downlink data to the two ormore communication channels. The segmenting may be based on one or moreparameters of the two or more communication channels. After transmittingthrough the magnetic ring unit, method 1200 may further includerecombining the segmented downlink data. Thereafter the recombineddownlink data may be transmitted to the data processing and controlunit.

Each communication channel can be provided by a magnetic ring. Anexample of a magnetic ring is shown in FIG. 3A. FIG. 4B illustrates howtwo magnetic rings may be provided in an exemplary assembly. Whentransmitting the ranging data, the magnetic ring unit may use one ormore of the communication channels. Other implementations are alsopossible and are permitted.

In a further embodiment, method 1200 can include, at step 1206,receiving the downlink data at a data processing and control unit. Thereceived data may be used for further processing at the data processingand control unit or subsequent components of the range-finding system.Subsequently, the data processing and control unit may provide thedownlink data to a further system such as, for example, a navigation orguidance system.

FIG. 13 illustrates a further method for data transmission within arange-finding system, according to embodiments of the disclosure. Asshown in FIG. 13, a method 1300 may include, at step 1302, acquiring, bya data processing and control unit, control data. The systemimplementing this method may, for example, be the same system configuredto implement method 1200. Moreover, a further example of method 1300 maybe illustrated in the uplink path of FIG. 11A, including, for example,uplink signal conversion unit 1151.

The method 1300 may also include, at step 1304, transmitting, via amagnetic ring unit including a communication channel, control data asuplink data to a rangefinder from the data processing and control unit.In a system embodying method 1200, a further step of switching betweendownlink and uplink transmission modes for the magnetic ring unit may beprovided. This switching may be implemented by, for example, switch unit1040 in FIG. 10, as discussed below with reference to FIG. 14. In someembodiments, the switching may include rebooting a power supply unitthat supplies power to the magnetic ring unit, suspending transmissionof the downlink data by the magnetic ring unit, performing uplink datamonitor, timing the uplink data monitor, and notifying theuplink/downlink switch unit to reboot the transmission of the downlinkdata by the magnetic ring unit.

In a further embodiment, method 1300 can include, at step 1306,receiving the uplink data by the rangefinder and, at step 1308,performing a control action on the rangefinder, such as a restart,firmware update, recalibration, or the like.

FIG. 14 illustrates a method of operating a range-finding system,according to embodiments of the disclosure. As shown in FIG. 14, amethod 1400 can include, at step 1402, receiving downlink data via amagnetic ring unit including one or more communication channels. Anexample of step 1402 is illustrated in FIG. 12. Method 1400 can alsoinclude, at 1406, sending uplink data via the magnetic ring unit. Anexample of step 1406 is illustrated in FIG. 13. Method 1400 can furtherinclude, at step 1404, switching between the downlink transmission modeas performed at step 1402 and the uplink transmission mode as performedat step 1406. An example of a system that can be configured to implementmethod 1400 is shown in FIG. 6A. As mentioned in the discussion of FIG.6A, the switching at step 1404 may be performed in accordance with aFibonacci sequence or in numerous other ways, as mentioned above.

Consistent with some embodiments according to the present disclosure,another method of operating a range-finding system may include the stepsof method 1200, and also the following steps: generating, by a powersupply unit, a power signal, and supplying, via a power magnetic ringunit comprising one or more power channels, the power signal as uplinkdata from the power supply unit to the rangefinder. Each power channelmay comprise a magnetic ring. The power channel may be different fromthe communication channel.

Consistent with some embodiments according to the present disclosure, amethod of data communication within a magnetic-ring-based communicationsystem includes switching between receipt of a downlink control signaland an uplink control signal; transmitting, via a mainboard controlunit, a downlink data; receiving, via the mainboard control unit, anuplink data; transmitting, via a backboard control unit, an uplink data;receiving, via the backboard control unit, a downlink data; andtransmitting, via a power channel, a power signal from the backboardcontrol unit to the mainboard control unit. The communication channelmay include a mainboard magnetic ring unit and a backboard magnetic ringunit. When the switch unit receives the downlink control signal, themainboard control unit may transmit the downlink data to the backboardcontrol unit via the communication channel. When the switch unitreceives the uplink control signal, the backboard control unit maytransmit the uplink data to the mainboard control unit via thecommunication channel. The backboard control unit may supply power tothe mainboard control unit via the power channel.

The method of data communication discussed above may further include:converting the downlink data into a downlink differential signal;amplifying the downlink differential signal; outputting a downlinkanalog signal by matching impedance of the amplified downlinkdifferential signal; converting, at the mainboard magnetic ring unit,the downlink analog signal into electromagnetic energy; converting, atthe backboard magnetic ring unit, the electromagnetic energy into adownlink analog signal; filtering the downlink analog signal; andconverting the downlink analog signal into downlink data to be output tothe backboard control unit.

Another aspect of the disclosure is directed to a non-transitorycomputer-readable medium storing instructions which, when executed,cause one or more processors to perform the methods, as discussed above.The computer-readable medium may include volatile or non-volatile,magnetic, semiconductor, tape, optical, removable, non-removable, orother types of computer-readable medium or computer-readable storagedevices. For example, the computer-readable medium may be the storagedevice or the memory module having the computer instructions storedthereon, as disclosed. In some embodiments, the computer-readable mediummay be a disc, a flash drive, or a solid-state drive having the computerinstructions stored thereon.

It will be apparent to those skilled in the art that variousmodifications and variations can be made to the disclosed systems andrelated methods. Other embodiments will be apparent to those skilled inthe art from consideration of the specification and practice of thedisclosed systems and related methods.

It is intended that the specification and examples be considered asexemplary only, with a true scope being indicated by the followingclaims and their equivalents.

What is claimed is:
 1. A magnetic ring communication device, comprising:a magnetic ring unit comprising at least two magnetic rings; arangefinder configured to acquire ranging data; a data processing andcontrol unit configured to process downlink data; and a power supplyunit configured to supply power to the rangefinder under the control ofthe data processing and control unit, wherein the rangefinder transmitsranging data as the downlink data to the magnetic ring unit, whereineach magnetic ring creates a communication channel, wherein thecommunication channel transmits the ranging data as the downlink datafrom the rangefinder to the data processing and control unit, whereinthe data processing and control unit, upon receipt of a control signal,reboots the power supply unit to suspend transmission of downlink databy the rangefinder, and wherein the data processing and control unittransmits the control signal as uplink data to the magnetic ring unitupon being notified of success of reboot of the power supply unit by asignal.
 2. The magnetic ring communication device of claim 1, whereinone or more communication channels of the magnetic ring unit, under thecontrol of the data processing and control unit, transmit the uplinkdata to the rangefinder.
 3. The magnetic ring communication device ofclaim 1, wherein the magnetic ring unit further comprises anuplink/downlink switch unit and a timing unit, wherein, when the powersupply unit is rebooted, the uplink/downlink switch unit suspendstransmission of downlink data by the magnetic ring unit, and performsuplink data monitor, wherein, the timing unit is coupled to theuplink/downlink switch unit, and times the uplink data monitor when thepower supply unit is rebooted, and wherein, when the rangefindercompletes receipt of uplink data, the timing unit stops timing of theuplink data monitor and notifies the uplink/downlink switch unit toreboot the transmission of downlink data by the magnetic ring unit. 4.The magnetic ring communication device of claim 3, wherein, when thetiming unit reaches a predetermined duration, the uplink/downlink switchunit determines whether the rangefinder receives the uplink data, andwherein, when the rangefinder has not received the uplink data, theuplink/downlink switch unit sends an uplink data receipt failure signalto the data processing and control unit.
 5. The magnetic ringcommunication device of claim 1, further comprising: a control signalmagnetic ring unit comprising one or more magnetic rings, wherein theone or more magnetic rings create one or more control channels, whereinthe one or more control channels transmit the uplink data from the dataprocessing and control unit to the rangefinder, and wherein therangefinder processes the uplink data.
 6. The magnetic ringcommunication device of claim 1, further comprising a data segmentationunit, wherein the data segmentation unit receives the downlink data,segments the downlink data based on one or more parameters of thecommunication channels, and distributes the segmented downlink data totwo or more of the communication channels.
 7. The magnetic ringcommunication device of claim 6, further comprising a data recombinationunit, wherein the data recombination unit receives the segmenteddownlink data from the two or more of the communication channels,recombines the segmented downlink data, and transmits the recombineddownlink data to the data processing and control unit, and wherein thedata processing and control unit and processes the recombined downlinkdata.
 8. The magnetic ring communication device of claim 1, wherein thepower supply unit comprises a magnetic ring configured to transmitenergy signals in a power channel from the data processing and controlunit to the rangefinder to power the rangefinder.
 9. A LiDAR comprisinga magnetic ring communication device corresponding to any one of claims1-8.
 10. A method for magnetic ring communication, comprising:acquiring, by a rangefinder, ranging data; transmitting, via two or morecommunication channels, the ranging data as downlink data from therangefinder to a data processing and control unit; and processing thedownlink data at the data processing and control unit, wherein the dataprocessing and control unit, upon receipt of a control signal, rebootsthe power supply unit to suspend transmission of downlink data by therangefinder, and wherein the data processing and control unit transmitsthe control signal as uplink data to the rangefinder via thecommunication channels.
 11. The method of claim 10, the transmittingfurther comprising: wherein the data processing and control unit, uponreceipt of the control signal, transmits the control signal as uplinkdata to the rangefinder via one or more communication channels.
 12. Themethod of claim 10, wherein after the data processing and control unitupon receipt of a control signal, reboots the power supply unit tosuspend transmission of downlink data by the rangefinder, the methodfurther comprising: performing uplink data monitor; timing the uplinkdata monitor; stopping timing of the uplink data monitor when therangefinder completes the receipt of uplink data; and rebooting thetransmission of the downlink data.
 13. The method of claim 12, whereinafter performing uplink data monitor and timing the uplink data monitor,the method further comprising: determining whether the rangefinderreceives the uplink data when the timing unit reaches a predeterminedduration; and sending an uplink data receipt failure signal to the dataprocessing and control unit when the rangefinder has not received theuplink data.
 14. The method of claim 10, wherein before transmitting,via two or more communication channels, the ranging data as downlinkdata from the rangefinder to the data processing and control unit, themethod further comprising: acquiring, by the rangefinder, parameters ofthe communication channels; and segmenting the downlink data based onthe parameters of the communication channels.
 15. The method of claim14, the method further comprising: receiving the downlink data; andrecombining the downlink data.